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Pose Estimation from Minimal Dual-Receiver Configurations

Författare

Summary, in English

Using multiple receivers (microphones or antennas) in

a rigid configuration, such as on a smartphone, it is

possible to measure time difference of arrival to the receivers.

This in turn can be used to determine the direction

to the transmissions, if there are at least three

receivers. When using two receivers it can be used

to determine the angle to the transmissions relative to

the line through the two receivers. In this paper we

study three minimal problems for pose using such data:

(i) determine position and orientation using five transmissions,

(ii) determine position and orientation using

four transmissions and known ’down’ direction and

(iii) determine position using three transmissions and

known orientation. Numerically stable solvers are implemented.

An experimental validation of the solvers

are performed on simulated data

Publiceringsår

2012

Språk

Engelska

Sidor

2553-2556

Publikation/Tidskrift/Serie

21st International Conference on Pattern Recognition (ICPR 2012), Proceedings of

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Mathematics

Nyckelord

  • Pose estimation
  • Time-Difference-Of-Arrival
  • minimal problems

Conference name

21st International Conference on Pattern Recognition (ICPR 2012)

Conference date

2012-11-11 - 2012-11-15

Conference place

Tsukuba, Japan

Status

Published

Forskningsgrupp

  • Mathematical Imaging Group

ISBN/ISSN/Övrigt

  • ISBN: 978-4-9906441-1-6